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    ArduPilot on Voxl2

    Flight Core v2
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    • A
      Andrew Tridgell
      last edited by 13 Jul 2024, 04:55

      Support for ArduPilot on QURT (the RTOS used on Voxl-2) is now merged in ArduPilot master
      Basic instructions on building and installing are here:

      https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_QURT/ap_host/service

      Pre-built binaries are available here:

      • https://firmware.ardupilot.org/Copter/latest/QURT/
      • https://firmware.ardupilot.org/Plane/latest/QURT/
      • https://firmware.ardupilot.org/Rover/latest/QURT/

      This should still be considered experimemtal, with active development happening with @Eric-Katzfey and myself.

      Flight video here on an autonomy dev kit copter:
      https://www.youtube.com/watch?v=l6c65-E-lzg

      Enjoy!

      E T 3 Replies Last reply 20 Jul 2024, 00:09 Reply Quote 1
      • A Andrew Tridgell referenced this topic on 13 Jul 2024, 04:56
      • A Andrew Tridgell referenced this topic on 13 Jul 2024, 04:56
      • A Andrew Tridgell referenced this topic on 13 Jul 2024, 04:57
      • C Chad Sweet referenced this topic on 13 Jul 2024, 05:45
      • E
        Eric Katzfey ModalAI Team @Andrew Tridgell
        last edited by 20 Jul 2024, 00:09

        @Andrew-Tridgell Here is the start of our ModalAI ArduPilot documentation: https://docs.modalai.com/voxl-ardupilot/

        T 1 Reply Last reply 14 Aug 2024, 07:35 Reply Quote 1
        • T
          TomP @Andrew Tridgell
          last edited by 10 Aug 2024, 10:12

          This post is deleted!
          1 Reply Last reply Reply Quote 0
          • T
            TomP @Eric Katzfey
            last edited by 14 Aug 2024, 07:35

            @Eric-Katzfey I understand that you have not yet tested Arduplane. Apart from that, it could work, right? I want to test Arduplane together with the I/O board because I use a normal ESC which needs a pwm signal.

            E 1 Reply Last reply 14 Aug 2024, 15:05 Reply Quote 0
            • E
              Eric Katzfey ModalAI Team @TomP
              last edited by 14 Aug 2024, 15:05

              @TomP It's missing support for that I/O board right now. So you would either have to add that yourself or wait for support to be added.

              T 1 Reply Last reply 15 Aug 2024, 12:23 Reply Quote 0
              • T
                TomP @Eric Katzfey
                last edited by 15 Aug 2024, 12:23

                @Eric-Katzfey When could the support for this be added?

                A E 2 Replies Last reply 15 Aug 2024, 15:24 Reply Quote 0
                • A
                  Alex Kushleyev ModalAI Team @TomP
                  last edited by Alex Kushleyev 15 Aug 2024, 15:36 15 Aug 2024, 15:24

                  @TomP , if you wanted to try this yourself, a minimal integration of the VOXL2 IO board (M0065) can be done by sending out a single UART packet which contains the PWM output values.

                  • the function that creates the packet can be found here and it is used in the voxl2_io px4 driver here. You simply provide an array of pwm values (in nanoseconds). This packet is variable length and supports 1,2,4,6, or 8 outputs.
                  • this would be a minimal implementation, which does not include querying the VOXL2 IO board, checking it's version, etc, which is normally done in our PX4 driver. However, it could unblock your work if you are looking to fly a fixed wing ASAP.
                  • the packet wrapping function uses the same structure as used for the ModalAI ESC, so that code should already exist in ArduPilot and can be re-used.

                  Just to add, make sure the latest M0065 firmware is loaded

                  • https://docs.modalai.com/voxl2-io-user-guide/
                  • https://docs.modalai.com/voxl2-io-firmware/

                  The VOXL2 IO board firmware currently operates in one-shot mode pwm, that is for one PWM command packet there will be one pulse generated without a delay. The communication baud rate with the VOXL2 IO firmware is 921600.

                  Alex

                  1 Reply Last reply Reply Quote 0
                  • E
                    Eric Katzfey ModalAI Team @TomP
                    last edited by 15 Aug 2024, 15:48

                    @TomP said in ArduPilot on Voxl2:

                    When could the support for this be added?

                    Unfortunately, we don't have a fixed date for that support yet. We are striving to support ArduPilot on VOXL 2 by end of this year and that would include support for the IO board. Otherwise I would say keep your eye on the commits going in to AP to see if something comes in sooner.

                    T 2 Replies Last reply 15 Aug 2024, 16:18 Reply Quote 0
                    • T
                      TomP @Eric Katzfey
                      last edited by 15 Aug 2024, 16:18

                      @Eric-Katzfey That is a manageable period of time for me. We can use it to plan our product roadmap. Thank you very much and keep up the good work.

                      1 Reply Last reply Reply Quote 0
                      • T
                        TomP @Eric Katzfey
                        last edited by 2 Nov 2024, 15:59

                        @Eric-Katzfey Is there an update on the timeline yet?

                        Best regards
                        Tom

                        1 Reply Last reply Reply Quote 0
                        • T
                          TomP @Andrew Tridgell
                          last edited by 2 Dec 2024, 14:33

                          @Andrew-Tridgell @Eric-Katzfey I wanted to ask again about the current roadmap regarding Arduplane and the IO board for PWM.

                          Best regards
                          Tom

                          E 1 Reply Last reply 2 Dec 2024, 20:10 Reply Quote 0
                          • E
                            Eric Katzfey ModalAI Team @TomP
                            last edited by 2 Dec 2024, 20:10

                            @TomP We are still shooting for the end of this year. I would like to know what external peripherals you would like to support though. I'm guessing GPS, magnetometer, RC, a PWM based motor ESC, and some servos for flight surface control? Also an airspeed sensor? A distance sensor? What kind of RC are you expecting to use? There are some I/O limitations with VOXL 2 so want to make sure that what you want to build can be supported by what we are putting together.

                            T 1 Reply Last reply 8 Dec 2024, 22:13 Reply Quote 0
                            • T
                              TomP @Eric Katzfey
                              last edited by 8 Dec 2024, 22:13

                              @Eric-Katzfey We use GPS, compass and the IO board for a PWM-controlled ESC and two servos. We also need two more PWM channels for gimbal control. That's it.

                              We do not use an RC. The control is purely via MAVLink. Joystick inputs are made via the MAVLink command MANUAL_CONTROL. Data is transmitted via the mobile network.

                              E 2 Replies Last reply 20 Dec 2024, 18:18 Reply Quote 0
                              • E
                                Eric Katzfey ModalAI Team @TomP
                                last edited by 20 Dec 2024, 18:18

                                @TomP I have updated the documentation at https://docs.modalai.com/voxl-ardupilot/. The VOXL 2 IO board with up to 4 PWM outputs is now supported and has been tested on a quadcopter with 4 PWM ESCs. You should be able to use this for arduplane now. We are putting together our own fixed wing test platform and hope to begin testing soon.

                                E 1 Reply Last reply 20 Dec 2024, 18:22 Reply Quote 0
                                • E
                                  Eric Katzfey ModalAI Team @Eric Katzfey
                                  last edited by 20 Dec 2024, 18:22

                                  @Eric-Katzfey I will need to add the support for up to 8 PWM outputs on VOXL 2 IO board. Right now it only supports 4. You should be able to do test flights without the gimbal with 4 PWM outputs.

                                  1 Reply Last reply Reply Quote 0
                                  • E
                                    Eric Katzfey ModalAI Team @TomP
                                    last edited by 24 Dec 2024, 23:49

                                    @TomP The update to support all 8 PWM outputs from the IO board is now in mainline. You can get it in the latest build posted here: https://firmware.ardupilot.org/Copter/latest/QURT/

                                    1 Reply Last reply Reply Quote 0
                                    • T
                                      TomP
                                      last edited by 27 Mar 2025, 13:44

                                      Hi,

                                      How can I configure the battery monitor for ArduPlane on the VOXL2-Mini?
                                      Which value do I have to enter for BATT_MONITOR and which values for BATT_I2C_ADDR and BAT_I2C_BUS?

                                      The "VOXL 2 Mini Power" transmits the current and voltage measurement data via I2C.

                                      Best regards,
                                      Tom

                                      E 1 Reply Last reply 27 Mar 2025, 16:20 Reply Quote 0
                                      • E
                                        Eric Katzfey ModalAI Team @TomP
                                        last edited by 27 Mar 2025, 16:20

                                        @TomP It should just scan the available I2C ports and automatically detect the VOXL 2 mini power module if it has been connected. Is it not detecting it?

                                        T 1 Reply Last reply 27 Mar 2025, 19:05 Reply Quote 0
                                        • T
                                          TomP @Eric Katzfey
                                          last edited by 27 Mar 2025, 19:05

                                          @Eric-Katzfey No, this is not detected. The configuration does not seem to be correct either. The parameter list mentions "Analog Voltage and Current" and corresponding pins.
                                          Here is a screenshot:
                                          Arduplane_VOXL2_Mini.png

                                          1 Reply Last reply Reply Quote 0
                                          • T
                                            TomP
                                            last edited by 28 Mar 2025, 14:46

                                            Hi,

                                            There is another problem. The PWM board does not output PWMs. I have also measured this with an oscilloscope. According to SERVO_OUTPUT_RAW, however, the FC should output PWM values.

                                            Do I have to set another parameter in Arduplane so that the VOXL 2 I/O Expander Board is controlled correctly?

                                            I use the VOXL2-Mini J19 connector: GND, pin 7, pin 8 and VREG_3P3V_RC for the power supply.

                                            Here is my setup:
                                            WhatsApp Image 2025-03-28 at 15.35.26.jpeg

                                            E 1 Reply Last reply 28 Mar 2025, 18:28 Reply Quote 0
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